cmake_minimum_required(VERSION 3.8)
project(mqtt_cloud_sub)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(lifecycle_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(PkgConfig REQUIRED)

# Find mosquitto
pkg_check_modules(MOSQUITTO REQUIRED libmosquitto)
find_package(PkgConfig REQUIRED)
find_library(MOSQUITTO_LIBRARIES NAMES mosquitto PATHS ${MOSQUITTO_LIBRARY_DIRS})

# Find jsoncpp
find_package(PkgConfig REQUIRED)
pkg_check_modules(JSONCPP jsoncpp)

# Include directories
include_directories(
  include
  ${JSONCPP_INCLUDE_DIRS}
  ${PCL_INCLUDE_DIRS}
)

# 接收端可执行文件
add_executable(cloud_subscriber src/cloud_subscriber.cpp)
target_include_directories(cloud_subscriber PRIVATE
  ${MOSQUITTO_INCLUDE_DIRS}
  ${JSONCPP_INCLUDE_DIRS} 
)

ament_target_dependencies(cloud_subscriber
  rclcpp
  rclcpp_lifecycle
  lifecycle_msgs
  sensor_msgs
  std_msgs
)

target_link_libraries(cloud_subscriber
  ${MOSQUITTO_LIBRARIES}
  ${JSONCPP_LIBRARIES} 
)


# Install targets
install(TARGETS
  cloud_subscriber
  DESTINATION lib/${PROJECT_NAME}
)


# 安装launch文件
install(DIRECTORY
  launch
  DESTINATION share/${PROJECT_NAME}/
)
# 安装配置文件
install(DIRECTORY
  config
  DESTINATION share/${PROJECT_NAME}/
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
